CN114698091A - Time synchronization method and related device for V2X equipment - Google Patents
Time synchronization method and related device for V2X equipment Download PDFInfo
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Abstract
The application discloses a time synchronization method and a related device of V2X equipment, when slave equipment enters a communication coverage range of master equipment, the slave equipment receives a first message of time synchronization sent by the master equipment, responds to the first message according to preset time synchronization response duration, sends a second message to the master equipment, and further receives a third message returned by the master equipment based on the second message; further determining the difference value between the first waiting time and the second waiting time according to the relation between the sending time and the receiving time of each message, and adjusting the local system time according to the difference value and the preset time interval; the first waiting time is used for identifying the time length between the sending time of the first message and the receiving time of the second message, and the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message. Therefore, the local system time is adjusted based on the time synchronization message interaction with the main equipment, and the time synchronization with the main equipment is realized.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a time synchronization method and a related apparatus for a V2X device.
Background
The V2X (Vehicle to everything) technology is based on wireless communication, sensing detection and other technologies to acquire Vehicle and road information, so as to realize real-time information interaction between vehicles, between vehicles and road infrastructure, between vehicles and people, between vehicles and networks, and perform Vehicle safety control and road cooperative management, thereby ensuring traffic safety and improving traffic efficiency.
In the V2X system, clock synchronization between devices is required for the normal operation of many services such as wireless communication between devices. In the related art, clock synchronization is achieved through time service of a satellite positioning system, however, the time service of the satellite positioning system is not performed every moment, and local system clocks of different devices are different, so that system time errors exist between the local system clocks of different V2X devices, and the time service of the satellite positioning system may be unsuccessful in a region with poor satellite positioning signals, which may further increase the system time errors between the local clocks of different V2X devices.
It can be seen that the presence of system time errors will affect the communication between V2X devices, even resulting in the failure of V2X devices to receive and transmit communication messages.
Disclosure of Invention
In order to solve the above technical problem, the present application provides a time synchronization method and a related apparatus for a V2X device, which eliminate a system time error of a local system clock of the V2X device, and implement time synchronization of the V2X device.
The embodiment of the application discloses the following technical scheme:
in one aspect, an embodiment of the present application provides a method for time synchronization of a V2X device, where the method includes:
when a slave device enters a communication coverage range of a master device, the slave device receives a first message of time synchronization sent by the master device at preset time intervals; the first message carries timestamp information containing the sending time of the first message and the identifier of the master device;
the slave equipment sends a second message with synchronous time to the master equipment according to the preset time synchronization message response time length after receiving the first message, and records the sending time of the second message; the second message carries timestamp information of the receiving time of the first message received by the slave device and the identifier of the slave device;
the slave equipment receives a third message sent by the master equipment and records the receiving time of the third message; the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of the receiving time of the second message received by the main device and the identifier of the main device;
the slave device calculates a difference value between the first waiting time length and the second waiting time length; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message;
and the slave equipment adjusts the local system time according to the difference value and the preset time interval.
On the other hand, the embodiment of the present application provides a time synchronization apparatus for a V2X device, where the apparatus includes a receiving unit, a sending unit, a calculating unit, and an adjusting unit:
the receiving unit is used for receiving a first message of time synchronization sent by the master device at preset time intervals by the slave device when the slave device enters the communication coverage of the master device; the first message carries timestamp information containing the sending time of the first message and the identifier of the master device;
the sending unit is used for sending a second message with synchronous time to the master device according to the preset time synchronization message response time length after the slave device receives the first message, and recording the sending time of the second message; the second message carries timestamp information of the receiving time of the first message received by the slave equipment and the identification of the slave equipment;
the receiving unit is further configured to receive, by the slave device, a third message sent by the master device, and record a receiving time of the third message; the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of the receiving time of the second message received by the main device and the identifier of the main device;
the calculating unit is used for calculating the difference value between the first waiting time length and the second waiting time length by the slave equipment; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message;
and the adjusting unit is used for adjusting the local system time by the slave device according to the difference value and the preset time interval.
In yet another aspect, an embodiment of the present application provides a computer device, including a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the time synchronization method of the V2X apparatus according to instructions in the program code.
In yet another aspect, an embodiment of the present application provides a computer-readable storage medium for storing a computer program for executing the time synchronization method of the V2X apparatus described in the above aspect.
In yet another aspect, embodiments of the present application provide a computer program product comprising instructions, which when run on a computer, cause the computer to perform the method for time synchronization of a V2X device described in the above aspect.
According to the technical scheme, in the V2X system, when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization sent by the master device, and since the first message carries the identifier of the master device, after receiving the first message, the slave device responds to the first message sent by the master device according to a preset time synchronization response duration, sends a second message to the master device, and further receives a third message returned by the master device based on the second message; finally, according to the relation among the sending and receiving time of the first message, the second message and the third message, the difference value of the first waiting time and the second waiting time is determined, and the slave equipment adjusts the local system time according to the difference value and the preset time interval; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second latency is used to mark the time duration between the sending of the second message and the receiving of the third message. Since the master device and the slave device both respond to the time synchronization message sent by the other side according to the preset time synchronization message response time length, the slave device can adjust the local time system according to the difference value determined based on the first waiting time length and the second waiting time length and the preset time interval so as to realize the time synchronization with the master device. Therefore, the method and the device have the advantages that the slave device adjusts the local system time based on the interaction of the time synchronization messages between the master device and the slave device, so that the time synchronization with the master device is realized, the system time error between the slave device and the master device is eliminated, and the related problems caused by the system time error are avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for time synchronization of a V2X device according to an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a time synchronization system of a V2X device according to an embodiment of the present application;
fig. 3 is a schematic signaling interaction diagram of time synchronization between a slave device and a master device according to an embodiment of the present application;
fig. 4 is a device structure diagram of a time synchronization apparatus of a V2X device according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The application provides a time synchronization method and a related device of V2X equipment, which eliminate the system time error of a local system clock of the V2X equipment and realize the time synchronization of the V2X equipment.
The following examples are intended to illustrate in particular:
fig. 1 is a flowchart of a method for time synchronization of a V2X device according to an embodiment of the present application, where the method includes S101-S105:
s101: when the slave device enters the communication coverage range of the master device, the slave device receives a first message of time synchronization sent by the master device at preset time intervals.
The first message carries timestamp information including the sending time of the first message and the identifier of the master device.
In a possible implementation manner, when the slave device enters a communication coverage of the master device, the slave device and the master device have a binding relationship, specifically, the slave device and the master device can be bound through identifiers of the slave device and the master device, and based on this, after receiving a first message carrying a master device identifier sent by the master device, the slave device can confirm that the master device is a reference device bound by the slave device and used for time synchronization according to the identifier of the master device and the binding relationship.
It should be noted that, since the purpose of the time synchronization method between the master device and the slave device is to implement time synchronization, the master device and the slave device may be configured with the same time synchronization function parameters, where the time synchronization function parameters include the interval time of time synchronization, the response duration of time synchronization, and the frequency of time synchronization.
In a possible implementation manner, the relationship between the master device and the slave device may be configured and deployed in an actual construction process according to an actual application scenario, for example, in an application scenario of V2X road side, the road side device is deployed as the master device, and the vehicle end device is deployed as the slave device.
Since the system time error of the local clock of the slave device can meet the time error requirement of the communication of the V2X device within a period of time after one time synchronization, in the V2X system, when the slave device enters the communication coverage of the master device, the master device may send the first message of the time synchronization at preset time intervals, which are the function parameters of the interval time of the time synchronization.
In one possible implementation, S101 includes:
when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization which is sent by the master device at preset time intervals after the master device obtains the reference time.
Specifically, when the slave device enters the communication coverage of the master device, the master device transmits a time-synchronized first message to the slave device after obtaining the reference time. Since the master device is used as a reference device for time synchronization of the slave devices, the reference time obtained by the master device may be a high-precision time, and may be specifically obtained as follows:
the master device obtains the reference time in a system time synthesis selection mode; the reference time is a first time or a second time; the first time is determined by satellite system time service, and the second time is determined by local system clock time service of the master device.
Therefore, the first time can be determined through satellite system time service, the second time can be determined through local system clock time service, further, the reference time can be obtained by the main device through a system time synthesis selection mode, the reference time can be the first time or the second time, and the reference time can be specifically determined according to an actual application scene. Such as: when the satellite system time service is unsuccessful or the time service of the satellite system is not obtained within a long period of time, the second time determined by the local system clock time service can be used as the reference time, and the time synchronization can still be realized. Based on the method, the problem that the time service is unsuccessful possibly existing depending on a single satellite system time service, so that the communication of the V2X fails, caused by the fact that the satellite system is used as a single time service source in some application scenes, such as tunnel road conditions or mountain road conditions and other application scenes with weak GPS signals, can be avoided.
S102: and the slave equipment sends a second message with synchronous time to the master equipment according to the preset time synchronization message response time length after receiving the first message, and records the sending time of the second message.
The second message carries timestamp information of a receiving time of the slave device receiving the first message and an identifier of the slave device.
The slave equipment responds to a first message of time synchronization of the master equipment, returns a second message of time synchronization to the master equipment according to the preset time synchronization message response duration after receiving the first message, and records the time for sending the second message; in a possible implementation manner, after receiving the second message, the master device may determine whether there is an error in the system time of the slave device according to the identifier of the slave device, the receiving time of the slave device receiving the first message, the sending time of the first message, and a preset time synchronization message response duration.
S103: the slave equipment receives a third message sent by the master equipment and records the receiving time of the third message;
the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of a receiving time of the second message received by the master device and an identifier of the master device.
And the slave equipment receives a third message sent by the master equipment in response to the second message, wherein the third message carries the timestamp information of the receiving time of the master equipment for receiving the second message and the identification of the master equipment, so that the difference of the waiting time is calculated based on the timestamp information.
S104: the slave device calculates a difference value between the first waiting time length and the second waiting time length;
the first waiting time is used for identifying the time length between the sending time of the first message and the receiving time of the second message; the second wait time is used to identify a time duration between the sending time of the second message and the receiving time of the third message.
Specifically, according to the relationship between the sending time and the receiving time of the first message, the second message and the third message, the time length between the sending time of the first message and the receiving time of the second message is determined as a first waiting time length, the time length between the sending time of the second message and the receiving time of the third message is determined as a second waiting time length, and further, the difference value between the first waiting time length and the second waiting time length is calculated.
S105: and the slave equipment adjusts the local system time according to the difference value and the preset time interval.
After a time synchronization, the system time error of the local clock of the device is accumulated within a period of time, so that when the difference between the first waiting time duration and the second waiting time duration is determined, the slave device adjusts the local system time according to the difference and the preset time interval.
In one possible implementation, S105 includes:
and the slave equipment adjusts the local system time according to the difference value and the preset time interval and a preset time compensation rule.
Specifically, the specific adjustment amount for adjusting the local system time may be determined according to the difference and the preset time interval and according to a preset time compensation rule.
In the time synchronization process of the V2X device, the parameter precision of each time parameter may be according to actual needs, and in one possible implementation, the parameter precision of each time parameter is microseconds.
Therefore, in the V2X system, when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization sent by the master device, and because the first message carries the identifier of the master device, after receiving the first message, the slave device responds to the first message sent by the master device according to a preset time synchronization response duration, sends a second message to the master device, and further receives a third message returned by the master device based on the second message; finally, according to the relation among the sending and receiving time of the first message, the second message and the third message, the difference value of the first waiting time and the second waiting time is determined, and the slave equipment adjusts the local system time according to the difference value and the preset time interval; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for marking the time length between the sending time of the second message and the receiving time of the third message. Since the master device and the slave device both respond to the time synchronization message sent by the other side according to the preset time synchronization message response time length, the slave device can adjust the local time system according to the difference value determined based on the first waiting time length and the second waiting time length and the preset time interval so as to realize the time synchronization with the master device. Therefore, the application provides a method for adjusting local system time by the slave device based on the interaction of the time synchronization message between the master device and the slave device to realize time synchronization with the master device, so that the system time error between the slave device and the master device is eliminated, and the related problems caused by the system time error are avoided.
Fig. 2 is a schematic structural diagram of a time synchronization system of a V2X device provided in an embodiment of the present application, including a satellite system module, a local system clock module, and a V2X time synchronization module, specifically:
the satellite system module comprises a CPS antenna, a satellite signal receiving link and a satellite system time service module, and provides first time for the system time synthesis selection module in a satellite system time service mode, wherein the time precision of the first time can be millisecond level;
the local system clock module comprises a crystal oscillator circuit, a local system clock generating circuit and a local system time error compensation module, and the local system clock generating circuit provides second time for the system time synthesis selection module in a local system clock time service mode, and the time precision of the second time can be microsecond level;
the V2X time synchronization module includes a system time synthesis selection module, a V2X time synchronization processing module, a V2X signaling management module, a V2X information sending module, a V2X information receiving module, and a V2X antenna, and is configured to implement message signaling interaction between V2X devices, calculation of time errors between the devices, and a time synchronization processing mechanism.
Specifically, the GPS antenna receives signals of a satellite system, transmits the received radio-frequency signals to the satellite signal processing module through a satellite signal receiving link, acquires timestamp information of time service of the satellite system, realizes satellite time calibration based on the timestamp information, and provides first time for the system time synthesis selection module; the local system clock generating circuit generates local system time through an oscillator of the crystal oscillator circuit, transmits the local system time to the local time system compensation module for time feedback deviation compensation, and provides second time for the system time synthesis selection module; and the system time synthesis selection module realizes unified timestamp information aiming at the first time and the second time according to a synchronization mechanism of the satellite system time service information and the local system clock time service information, and further provides unique time information service for the V2X signaling management module and the V2X time synchronization processing module. It should be noted that each functional system may acquire clock services at the level of milliseconds, ten milliseconds, hundred milliseconds, and seconds from the time synthesis selection module according to actual application requirements.
Therefore, the embodiment of the application provides a V2X time synthesis selection mechanism, which is provided to a system time synthesis selection module and then to a V2X time synchronization module through local system clock time service and satellite system time service to form a feedback closed loop. Based on the method, when the satellite system time service is unsuccessful or the time service of the satellite system is not obtained within a long period of time, the reference time can be determined according to the local system clock time service, the time synchronization among the V2X devices can still be realized, and the problems related to a single satellite time service source are avoided, such as tunnel road conditions or mountain road conditions and other application scenes with weak GPS signals.
Fig. 3 is a schematic diagram of signaling interaction for time synchronization between a slave device and a master device according to an embodiment of the present application, specifically:
the master device is used as a time synchronization device, the slave device is used as a time receiving device, the master device and the slave device adopt the same time synchronization system structure, and are configured with the same time synchronization functional parameters, including time synchronization interval, time synchronization response duration and time synchronization frequency, wherein the precision of each parameter can be microsecond.
The master device starts a first time synchronization message RN1 to the slave device at regular time according to the time synchronization frequency and the time synchronization interval time, the slave device sends a second time synchronization message RN2 according to the time synchronization response time length after receiving the RN1, and the master device sends a third time synchronization message RN3 according to the time synchronization response time length after receiving the RN 2; the RN1, RN2 and RN3 messages carry time stamp information.
Determining the difference between the time when the master device receives the RN2 message and the time when the master device transmits the RN1 message as delta T1, and determining the difference between the time when the slave device transmits the RN2 message and the time when the slave device receives the RN3 message as delta T2; setting the transmission time of RN1, RN2 and RN3 messages as T0, the actual synchronization response time T1 of the master device and the time synchronization response time T2 of the slave device, then:
the time calculation formula is: and determining a difference value between the delta T2 and the delta T1 as Tn so as to adjust the local system time through a local system time error compensation module according to the Tn and the time synchronization interval time to complete time synchronization operation.
Fig. 4 is a block diagram of an apparatus for time synchronization of a V2X device according to an embodiment of the present application, where the apparatus includes a receiving unit 401, a sending unit 402, a calculating unit 403, and an adjusting unit 404:
the receiving unit 401 is configured to receive, by a slave device, a time-synchronized first message sent by a master device at preset time intervals when the slave device enters a communication coverage of the master device; the first message carries timestamp information including the sending time of the first message and the identifier of the master device;
the sending unit 402 is configured to send, after receiving the first message, a second message with time synchronization to the master device according to a preset time synchronization message response time length, and record sending time of the second message; the second message carries timestamp information of the receiving time of the first message received by the slave device and the identifier of the slave device;
the receiving unit 401 is further configured to receive, by the slave device, a third message sent by the master device, and record a receiving time of the third message; the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of the receiving time of the second message received by the main device and the identifier of the main device;
the calculating unit 403 is configured to calculate a difference between the first waiting duration and the second waiting duration by the slave device; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message;
the adjusting unit 404 is configured to adjust the local system time according to the difference and the preset time interval by the slave device.
In a possible implementation manner, the receiving unit is further configured to:
when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization which is sent by the master device at preset time intervals after the master device obtains the reference time.
In one possible implementation, the reference time of the master device is obtained by:
the master device obtains the reference time in a system time synthesis selection mode; the reference time is a first time or a second time; the first time is determined by satellite system time service, and the second time is determined by local system clock time service of the master device.
In a possible implementation manner, the adjusting unit is further configured to:
and the slave equipment adjusts the local system time according to the difference value and the preset time interval and a preset time compensation rule.
In one possible implementation, when a slave device enters a communication coverage of a master device, the slave device has a binding relationship with the master device.
In one possible implementation, the parameter precision of each time parameter is microseconds.
Therefore, in the V2X system, when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization sent by the master device, and because the first message carries the identifier of the master device, after receiving the first message, the slave device responds to the first message sent by the master device according to a preset time synchronization response duration, sends a second message to the master device, and further receives a third message returned by the master device based on the second message; finally, according to the relation among the sending and receiving time of the first message, the second message and the third message, the difference value of the first waiting time and the second waiting time is determined, and the slave equipment adjusts the local system time according to the difference value and the preset time interval; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for marking the time length between the sending time of the second message and the receiving time of the third message. Since the master device and the slave device both respond to the time synchronization message sent by the other side according to the preset time synchronization message response time length, the slave device can adjust the local time system according to the difference value determined based on the first waiting time length and the second waiting time length and the preset time interval so as to realize the time synchronization with the master device. Therefore, the application provides a method for adjusting local system time by the slave device based on the interaction of the time synchronization message between the master device and the slave device to realize time synchronization with the master device, so that the system time error between the slave device and the master device is eliminated, and the related problems caused by the system time error are avoided.
In yet another aspect, an embodiment of the present application provides a computer device, including a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is used for executing the time synchronization method of the V2X device provided by the embodiment according to the instructions in the program code.
The computer device may comprise a terminal device or a server, and the aforementioned time synchronization apparatus of the V2X device may be configured in the computer device.
In another aspect, an embodiment of the present application further provides a storage medium, where the storage medium is used to store a computer program, and the computer program is used to execute the time synchronization method of the V2X device provided in the foregoing embodiment.
In addition, the embodiment of the present application also provides a computer program product including instructions, which when run on a computer, causes the computer to execute the time synchronization method of the V2X device provided in the foregoing embodiment.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium may be at least one of the following media: various media that can store program codes, such as Read-only Memory (ROM), RAM, magnetic disk, or optical disk.
For the device embodiments, since they substantially correspond to the method embodiments, reference may be made to the partial description of the method embodiments for relevant points. The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The time synchronization method and the related apparatus for V2X device provided by the embodiments of the present application are described in detail above, and the principles and implementations of the present application are explained herein using specific examples, and the description of the above embodiments is only used to help understand the method of the present application. Also, variations in the specific embodiments and applications of the methods of the present application will occur to those skilled in the art.
In summary, the present disclosure should not be construed as limiting the present application, and any changes or substitutions that can be easily conceived by one skilled in the art within the technical scope of the present disclosure should be covered within the protection scope of the present application. Moreover, the present application can be further combined to provide more implementations on the basis of the implementations provided by the above aspects.
Claims (10)
1. A method for time synchronization of a V2X device, the method comprising:
when a slave device enters a communication coverage range of a master device, the slave device receives a first message of time synchronization sent by the master device at preset time intervals; the first message carries timestamp information including the sending time of the first message and the identifier of the master device;
the slave equipment sends a second message with synchronous time to the master equipment according to the preset time synchronization message response time length after receiving the first message, and records the sending time of the second message; the second message carries timestamp information of the receiving time of the first message received by the slave device and the identifier of the slave device;
the slave equipment receives a third message sent by the master equipment and records the receiving time of the third message; the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of the receiving time of the second message received by the main device and the identifier of the main device;
the slave device calculates a difference value between the first waiting time length and the second waiting time length; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message;
and the slave equipment adjusts the local system time according to the difference value and the preset time interval.
2. The method of claim 1, wherein the receiving, by the slave device, the time-synchronized first message sent by the master device at preset time intervals when the slave device enters the communication coverage of the master device comprises:
when the slave device enters the communication coverage of the master device, the slave device receives a first message of time synchronization which is sent by the master device at preset time intervals after the master device obtains the reference time.
3. The method of claim 2, wherein the reference time of the master device is obtained by:
the master device obtains the reference time in a system time synthesis selection mode; the reference time is a first time or a second time; the first time is determined by satellite system time service, and the second time is determined by local system clock time service of the master device.
4. The method of claim 1, wherein the slave device adjusting the local system time based on the difference and the preset time interval comprises:
and the slave equipment adjusts the local system time according to a preset time compensation rule according to the difference value and the preset time interval.
5. The method of any one of claims 1-4, wherein a slave device has a binding relationship with a master device when the slave device enters a communication coverage of the master device.
6. The method according to any one of claims 1-4, wherein the parameter precision of each time parameter is microseconds.
7. A time synchronization apparatus of a V2X device, the apparatus comprising a receiving unit, a transmitting unit, a calculating unit and an adjusting unit:
the receiving unit is used for receiving a first message of time synchronization sent by the master device at preset time intervals by the slave device when the slave device enters the communication coverage of the master device; the first message carries timestamp information containing the sending time of the first message and the identifier of the master device;
the sending unit is used for sending a second message with synchronous time to the master device according to the preset time synchronization message response time length after the slave device receives the first message, and recording the sending time of the second message; the second message carries timestamp information of the receiving time of the first message received by the slave device and the identifier of the slave device;
the receiving unit is further configured to receive, by the slave device, a third message sent by the master device, and record a receiving time of the third message; the third message is sent by the master device according to the preset time synchronization message response time length after receiving the second message; the third message carries timestamp information of the receiving time of the second message received by the main device and the identifier of the main device;
the calculating unit is used for calculating the difference value between the first waiting time length and the second waiting time length by the slave equipment; the first waiting time is used for marking the time length between the sending time of the first message and the receiving time of the second message; the second waiting time is used for identifying the time length between the sending time of the second message and the receiving time of the third message;
and the adjusting unit is used for adjusting the local system time by the slave device according to the difference value and the preset time interval.
8. A computer device, the computer device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of any of claims 1-6 according to instructions in the program code.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium is used to store a computer program for performing the method of any of claims 1-6.
10. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-6.
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| CN202210326518.9A CN114698091A (en) | 2022-03-30 | 2022-03-30 | Time synchronization method and related device for V2X equipment |
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| CN202210326518.9A CN114698091A (en) | 2022-03-30 | 2022-03-30 | Time synchronization method and related device for V2X equipment |
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